Protesters chanting "Down with Nato" and "No more war" gathered between the castle and the city's pedestrianised Queen Street. It comes after an earlier protest in Newport where protesters confronted police at steel fencing surrounding the Celtic Manor.

Video: Police and protesters clash in Nato protest in Cardiff:

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Groups of protesters - some dressed in black - moved away from the main protest site and further into the pedestrianised St John Street, Church Street and The Hayes, with police tracking their movements.

Police said there were a number of arrests.

As well as protesters, thousands of onlookers lined up alongside another security fence which has been put up near the existing fence.

Among the protesters was pensioner Margaret Evans, from Church Village, near Pontypridd, who said: "I am here because I object to Nato. It is a war machine."

While there were occasional scuffles the protests passed off largely peacefully – with police making three arrests – while crowds of onlookers also congregated to try and catch a glimpse of international delegates.

A colourful throng of protesters, waving hand-painted banners and chanting “No more Nato, no more wars”, stood beneath the statue of Aneurin Bevan at the western end of Cardiff’s Queen Street shopping thoroughfare ahead of the dinner.

Many of the protesters had attended the march in Newport earlier in the day, including 73-year-old Joyce Giblin, who had spent the whole week at the peace camp.

“I am totally against Nato because it is a vehicle for war, not a vessel for peace,” she said.

“They make illegal wars,” she added. “The whole Middle East is on fire and it’s all thanks to Nato.”

Video: Police and protesters break away from main protest site:

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The protesters started to gather around 6pm and quickly swelled in numbers. One group unravelled a giant banner, which took eight people to hold and spanned the whole width of the street.

Valentina Kaia, 23, travelled from Bristol for the event. She carried a banner saying: “Nato – world-leading traders in war crime.”

She said: “I am here because I feel disenfranchised and misrepresented by the individuals in power.

“They do not represent the public and they are trying to stop dissent but dissent is necessary for progress.”

As more protesters arrived some started to play drums and others brought sound systems. Every time a helicopter passed overhead it prompted jeers and booing from the crowd.

Bram Delaney, 18, also from Bristol, said: “Nato is a big organisation that causes a lot of problems in the world.

“It is important to show that not everyone supports them. Protesting will probably not make any immediate change but it is important to raise awareness what they do.”

Meanwhile Emma Gaspor, 22, from Bristol, said: “I think it is important to be here, especially given the recent situation in Ukraine.

“Nato keeps driving for more conflict, which is not in the interest of anyone except themselves. They brand other people terrorists but they are terrorists themselves.”

As three official cars drove past police officers formed a barrier between the protesters and the road.

Sean O’Donnell, 45, from Culverhouse Cross, said: “Taxpayers are paying for all this security. I understand that security is important but we have just come out of a recession and I think it is wrong.”

He added: “This city has been hugely disrupted by the summit. Small businesses have suffered hugely.”

But while hundreds took part in the protests thousands of excited onlookers lined the steel fences hoping to catch a glimpse of Mr Obama.

Jill Bartlett, 53, from Abercynon, stood waiting with her grandson. She said: “We did not plan to come along but we saw the crowds. It is history in the making.”

Bob and Denise Scourfield, from Heath in Cardiff, were also eager to catch a glimpse of the president.

Bob said: “We wanted to come along because it is a once in a lifetime experience. You are never going to see anything like this again. There is a fantastic atmosphere – as long as the protesters behave themselves.

Denise added: “We mostly came out of curiosity – we just wanted to be here and to be part of it. I have never seen so many police officers in my life. We have not had a problem with the security at all – we would much rather the people of Cardiff were safe.”

The James family had travelled to Cardiff from Pontypridd. Holly, who has special needs and is in a wheelchair, had waited since 2.30pm at barriers outside Cardiff Castle to wave her American flag at President Obama.

She had refused to be moved away for a break by her mother, Bernie, wanting to see the president arrive.

Bernie said: “Holly is special needs and I feel that it’s important that she gets a chance to see things she won’t see again.”

She also said that she also wanted to show her discontent at the policy of the Conservative government.

“She’s also not a fan of Mr Cameron because of the cuts to disability living allowance and also the bedroom tax, both of which have directly affected us.”

One group of protesters made their way along Queen Street in Cardiff city centre towards the ring of steel outside the castle.

Flanked by around 20 police officers the members of the parade chanted “No, No Nato” and “Free, Free Palestine”.

Security staff from shops and businesses in Queen Street stood guard outside but the march passed peacefully.

Adam Johannes, Secretary of Cardiff Stop the War Coalition, said the protesters had been made to appear as a minority group but he said 700 had joined an earlier protest in Newport with another 300 attending the second protest in Cardiff.

“There’s been political policing where the police are trying to isolate the protesters from the rest of the community but we represent the mainstream majority opinion, one which is highly critical and uneasy about the wars that we have been locked in.”

After the march down Queen Street there were a number of minor scuffles with protesters.

The majority of the gathered protesters – thought to have numbered up to 400 – gathered peacefully but a small minority of less than 20 caused problems.

Anarchist Action Network had called for people to join a “mass action to besiege Cardiff Castle”.

As officers tried to restrain one female protester, others tried to free the woman and pull on officers.

They were ordered back and police were jeered with shouts of “Shame on you” by other protesters as they took the woman away.

Police then formed a line along Queen Street with nobody being allowed out of the protest area.

Officers, some holding video cameras, followed the breakaway group, most of whom were wearing head-to-toe black.

As a group of 10 made their way away from the main group officers gave chase to breakaway groups.

At least three were taken away by officers to further screams of “Shame on you” by protesters.

As buses and a motorcade arrived at the castle extra police arrived to line the road.

Some of those gathered cheered while protesters booed the delegates.

A South Wales Police spokesman said: “Police have made three arrests this evening for minor public disorder offences at Cardiff Castle. The situation continues to be monitored.”